liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
EKF-Based Adaptation of Look-Up Tables with an Air Mass-Flow Sensor Application
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, The Institute of Technology.
2011 (English)In: Control Engineering Practice, ISSN 0967-0661, Vol. 19, no 5, 442-453 p.Article in journal (Refereed) Published
Abstract [en]

A method for bias compensation and online map adaptation using extended Kalman filters isdeveloped. Key properties of the approach include the methods of handling component aging, varyingmeasurement quality including operating-point-dependent reliability and occasional outliers, andoperating-point-dependent model quality. Theoretical results about local and global observability,specifically adapted to the map adaptation problem, are proven. In addition, a method is presented tohandle covariance growth of locally unobservable modes, which is inherent in the map adaptationproblem. The approach is also applicable to the offline calibration of maps, in which case the onlyrequirement of the data is that the entire operating region of the system is covered, i.e., no specialcalibration cycles are required. The approach is applied to a truck engine in which an air mass-flowsensor adaptation map is estimated during a European transient cycle. It is demonstrated that themethod manages to find a map describing the sensor error in the presence of model errors on ameasurement sequence not specifically designed for adaptation. It is also demonstrated that themethod integrates well with traditional engineering tools, allowing prior knowledge about specificmodel errors to be incorporated and handled.

Place, publisher, year, edition, pages
Elsevier , 2011. Vol. 19, no 5, 442-453 p.
Keyword [en]
Bias compensation, EKF, Parameter estimation, Map adaptation
National Category
Engineering and Technology
URN: urn:nbn:se:liu:diva-67591DOI: 10.1016/j.conengprac.2011.01.006ISI: 000290744300003OAI: diva2:411456
Available from: 2011-04-18 Created: 2011-04-18 Last updated: 2011-06-08
In thesis
1. Model Error Compensation in ODE and DAE Estimators: with Automotive Engine Applications
Open this publication in new window or tab >>Model Error Compensation in ODE and DAE Estimators: with Automotive Engine Applications
2011 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Control and diagnosis of complex systems demand accurate information of the system state to enable efficient control and to detect system malfunction. Physical sensors are expensive and some quantities are hard or even impossible to measure with physical sensors. This has made model-based estimation an attractive alternative.

Model based observers are sensitive to errors in the model and since the model complexity has to be kept low to enable use in real-time applications, the accuracy of the models becomes limited. Further, modeling is difficult and expensive with large efforts on model parametrization, calibration, and validation, and it is desirable to design robust observers based on existing models. An experimental investigation of an engine application shows that the model have stationary errors while the dynamics of the engine is well described by the model equations. This together with frequent appearance of sensor offsets have led to a demand for systematic ways of handling operating point dependent stationary errors, also called biases, in both models and sensors.

Systematic design methods for reducing bias in model based observers are developed. The methods utilize a default model, described by systems of ordinary differential equations (ODE) or differential algebraic equations (DAE), and measurement data. A low order description of the model deficiencies is estimated from the default model and measurement data, which results in an automatic model augmentation. The idea is then to use the augmented model in observer design, yielding reduced stationary estimation errors compared to an observer based on the default model. Three main results are: a characterization of possible model augmentations from observability perspectives, a characterization of augmentations possible to estimate from measurement data, and a robustness analysis with respect to noise and model uncertainty.

An important step is how the bias is modeled, and two ways of describing the bias are analyzed. The first is a random walk and the second is a parameterization of the bias. The latter can be viewed as an extension of the first and utilizes a parameterized function that describes the bias as a function of the operating point of the system. By utilizing a parameterized function, a memory is introduced that enables separate tracking of aging and operating point dependence. This eliminates the trade-off between noise suppression in the parameter convergence and rapid change of the offset in transients. Direct applications for the parameterized bias are online adaptation and offline calibration of maps commonly used in engine control systems.

The methods are evaluated on measurement data from heavy duty diesel engines. A first order model augmentation is found for an ODE of an engine with EGR and VGT. By modeling the bias as a random walk, the estimation error is reduced by 50 % for a certification cycle. By instead letting a parameterized function describe the bias, better estimation accuracy and increased robustness is achieved. For an engine with intake manifold throttle, EGR, and VGT and a corresponding stiff ODE, experiments show that it is computationally beneficial to approximate the fast dynamics with instantaneous relations, transforming the ODE into a DAE. A main advantage is the possibility to use more than 10 times longer step lengths for the DAE based observer, without loss of estimation accuracy. By augmenting the DAE, an observer that achieves a 55 % reduction of the estimation error during a certification cycle is designed.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2011. 30 p.
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 1366
National Category
Computer and Information Science Control Engineering
urn:nbn:se:liu:diva-67117 (URN)978-91-7393-209-7 (ISBN)
Public defence
2011-05-27, Visionen, Hus B, Campus Valla, Linköping, 10:15 (English)
Available from: 2011-04-20 Created: 2011-03-30 Last updated: 2011-04-20Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full text

Search in DiVA

By author/editor
Höckerdal, ErikFrisk, ErikEriksson, Lars
By organisation
Vehicular SystemsThe Institute of Technology
In the same journal
Control Engineering Practice
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 95 hits
ReferencesLink to record
Permanent link

Direct link